CN105314310B - Cargo handling equipment and method - Google Patents
Cargo handling equipment and method Download PDFInfo
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- CN105314310B CN105314310B CN201510289202.7A CN201510289202A CN105314310B CN 105314310 B CN105314310 B CN 105314310B CN 201510289202 A CN201510289202 A CN 201510289202A CN 105314310 B CN105314310 B CN 105314310B
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- movement mechanism
- transmission device
- grasping unit
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- grasping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Manipulator (AREA)
- De-Stacking Of Articles (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
According to one embodiment, cargo handling equipment includes the first mechanism, and the second mechanism grasps unit, third mechanism, the 4th mechanism and transmission device.First mechanism is movable in a first direction.Second mechanism is connected to the first mechanism, and is movable on the first level face intersected with first direction.Grasping unit is connected to the second mechanism, and keeps the object being picked.Third mechanism is arranged on the first mechanism, the second mechanism and grasping unit lower section, and is movable in a first direction.4th mechanism is connected to third mechanism, and is movable on second horizontal plane opposite with first level face.Transmission device is connected to the 4th mechanism, and loads and transmit the object grasped by grasping unit.
Description
Cross reference to related applications
The application based on and require on May 29th, 2014 to submit, application No. is the Japanese patent applications of 2014-111729
Priority equity, all the contents of the application are incorporated herein by reference.
Technical field
Embodiment described herein is usually directed to a kind of cargo handling equipment and method.
Background technique
Due to the globalization of supply chain and the aging of labouring population, the labour for carrying increased logistics capacity occurs
The trend of shortage.Therefore, Cartesian robot and hinged arm robot have been popularized, to realize high speed and effective cargo
Transport operation, such as cargo are selected.
Summary of the invention
According to an aspect of the invention, there is provided a kind of cargo handling equipment, comprising: the first movement mechanism, first
It is movable on direction；Second movement mechanism is connected to first movement mechanism and in intersected with the first direction
It is movable on one horizontal plane；Unit is grasped, second movement mechanism is connected to and grasps the object being picked；Third movement
Mechanism is arranged below first movement mechanism, second movement mechanism and the grasping unit, and described first
It is movable on direction；4th movement mechanism is connected to the third movement mechanism and opposite with the first level face
It is movable on second horizontal plane；And transmission device, it is connected to the 4th movement mechanism, and load and transmit by the grasping
The object of unit grasping.
One preferred embodiment of this aspect according to the present invention, the cargo handling equipment further include: image sensing
Device obtains the image data of the object；Detector, from the upper position and lower portion of object described in described image Data Detection
It sets；And controller, first movement mechanism and second movement mechanism are driven to allow the grasping unit towards on described
The movement of portion position, and the third movement mechanism and the 4th movement mechanism are driven to allow the transmission device towards described
Lower position movement.
One preferred embodiment of this aspect according to the present invention, described image sensor acquisition include about described in
The location information of the information of the distance of object, and the controller calculates second movement mechanism according to the positional information
The second distance between first distance and the 4th movement mechanism and the lower position between the upper position, root
First movement mechanism and second movement mechanism are driven according to the first distance, and is driven according to the second distance
The third movement mechanism and the 4th movement mechanism.
One preferred embodiment of this aspect according to the present invention, when the transmission device transmits the object, institute
The first movement mechanism, second movement mechanism and the grasping unit are stated not strike against the transmission device and the object
Mode moves.
One preferred embodiment of this aspect according to the present invention, when the object is loaded on intermediate shelf,
The third movement mechanism and the 4th movement mechanism movement, so that one end of the transmission device is located at the institute of the object
The one end for stating lower position or the transmission device is positioned under the close transmission device of the intermediate shelf
At end.
According to another aspect of the present invention, a kind of cargo handling equipment is provided, comprising: pedestal, the pedestal are supports
Body；Grasp unit, be connected in the pedestal and in a first direction, it is movable on second direction and third direction, and grab
Object is held, the second direction is perpendicular to the first direction, and the third direction is perpendicular to the first direction and described
Two directions；And transmission device, it is connected at position more lower than the grasping unit in the pedestal and along described first
It is movable with second direction, and transmit by the object of the grasping unit grasping, wherein the transmission device moves to
Close to the object lower part and by on the grasping unit matching loading object to the transmission device.
In accordance with a further aspect of the present invention, a kind of cargo method for carrying is provided, comprising: obtain the object to be picked
Image data；From the shape of object described in described image Data Detection, and the upper position and lower portion of the detection object
It sets；Driving grasping unit is moved to the upper position, and the grasping unit grasps the object；Drive transmission unit is to described
Lower position movement, the transmission device load and transmit the object；It is grabbed by the grasping unit in the upper position
Hold the detected object；By the collaborative work between the grasping unit and the transmission device, the object is loaded
Onto the transmission device；By when the transmission device transmits the object without impinging on the object in a manner of it is mobile described in grab
Hold unit；With the movement transmission device close to as the object destination workbench, and transmit the object to
The workbench.
Detailed description of the invention
Fig. 1 shows cargo handling equipment according to first embodiment.
Fig. 2 shows the original states in cargo handling process.
Fig. 3 shows the state of the grabbing object in cargo handling process.
Fig. 4 shows the state that the object is loaded in cargo handling process.
Fig. 5 shows the state of the retraction movement mechanism in cargo handling process.
Fig. 6 shows the state that the transmission device in cargo handling process is placed on the position beside workbench.
Fig. 7 shows the state that the object is loaded in cargo handling process.
Fig. 8 shows original state when object is loaded on intermediate shelf.
Fig. 9 shows the state that the object is grasped when the object is loaded on intermediate shelf.
Figure 10 shows the state that the object is loaded when the object is loaded on intermediate shelf.
Figure 11 shows the object when being loaded on intermediate shelf, and transmission device is placed on the position beside workbench
State.
Figure 12 is the block diagram of cargo handling equipment according to the second embodiment.
Figure 13 shows the example of the location information generating process in shape detector 1202.
Figure 14 A is the flow chart for showing the operation of cargo handling equipment according to the second embodiment.
Figure 14 B is the flow chart for showing the operation of cargo handling equipment according to the second embodiment.
Specific embodiment
For above-mentioned Cartesian robot and hinged arm robot, there are increasing trend.For example, being grabbed from top
The Cartesian robot for holding product needs vertically long-armed.This robot cannot be used in vertical restricted clearance, such as have
There is the place of low ceiling.In order to avoid known obstacle, it is necessary to which the hinged arm robot to grasp product from top provides
The joint of excess amount.
In addition, when product is loaded in the cuboidal space with intermediate shelf, the Joint motion of extra quantity
It needs to be applied to pick up product from intermediate shelf, leads to the problem of increasing the size of robot.
Under normal circumstances, according to one embodiment, cargo handling equipment includes the first movement mechanism, the second fitness machine
Structure grasps unit, third movement mechanism, the 4th movement mechanism and transmission device.First movement mechanism is in a first direction can
Movement.Second movement mechanism is connected to the first movement mechanism, and being on the first level face intersected with first direction can
Movement.Grasping unit is connected to the second movement mechanism, and object is kept to be picked.Third movement mechanism is arranged on first
It below movement mechanism, the second movement mechanism and grasping unit, and is movable in a first direction.4th movement mechanism connects
It is connected to third movement mechanism, and is movable on second horizontal plane opposite with first level face.Transmission device connection
To the 4th movement mechanism, and load and transmit the object grasped by grasping unit.
Hereinafter, it is described in detail with reference to the accompanying drawings according to the cargo handling equipment of the present embodiment and method.As follows
In the embodiment described, identical operation is executed by the element that identical appended drawing reference is specified, and the repetition of these elements is retouched
Stating will be omitted.
(first embodiment)
Cargo handling equipment according to first embodiment will illustrate referring to Fig.1.
Cargo handling equipment 100 according to first embodiment includes: the first stay 101, the second stay 102,
Third stay 103, the 4th stay 104, the 5th stay 105, the 6th stay 106, first level component
107, the second horizontal member 108, third horizontal member 109, the 4th horizontal member 110, the first vertical motion mechanism 111, level
Movement mechanism 112, the first depth direction movement mechanism 113 grasp unit motion mechanism 114, grasp unit 115, and second is vertical
Movement mechanism 116, the second depth direction movement mechanism 117 and transmission device 118.
First vertical motion mechanism 111 is also referred to as the first movement mechanism, and horicontal motion mechanism 112 and the first depth
The combination of direction movement mechanism 113 is also referred to as the second movement mechanism.Second vertical motion mechanism 116 is also referred to as third movement
Mechanism, and the second depth direction movement mechanism 117 is also referred to as the 4th movement mechanism.
First stay 101, the second stay 102, third stay 103, the 4th stay 104, the 5th
Stay 105, the 6th stay 106, first level component 107, the second horizontal member 108,109 He of third horizontal member
4th horizontal member 110 is the supporting member to form the frame of cargo handling equipment 100, and they are also referred to as bottom together
Seat.
It is formed in the following manner according to the pedestal of the present embodiment.First stay 101,103 He of third stay
5th stay 105 is connected to first level component 107 with the other end of one end ground connection of each component and each component
Such mode is erect.Second stay 102, the 4th stay 104 and the 6th stay 106 are with the one of each component
The other end of end ground connection and each component is connected to mode as the second horizontal member 108 and erects.Third horizontal member 109
It is connected near the position of the connection of third stay 103 with one end and the other end is connected to the connection of the 4th stay 104
Position near mode horizontal connection to first level component 107 and the second horizontal member 108.4th horizontal member 110 with
One end is connected to the position of the 5th stay 105 connection nearby and the other end is connected to the connection of the 6th stay 106
Mode horizontal connection near position is to first level component 107 and the second horizontal member 108.
Pedestal is not limited to above-mentioned shape, but can also be formed and be used to support the first vertical motion mechanism 111, horizontal movement
Mechanism 112, the first depth direction movement mechanism 113 grasp unit motion mechanism 114, grasp unit 115, the second vertical motion
Mechanism 116, the second depth direction movement mechanism 117 and transmission device 118.
First vertical motion mechanism 111 is connected to the third stay 103 of pedestal, and the 4th stay 104, the 5th is perpendicular
Straight component 105 and the 6th stay 106, to be movable in vertical direction (Y direction).For example, guide rail is vertical
Along the third stay 103 of pedestal, the 4th stay 104, the 5th stay 105 and the 6th stay on direction
106 attachments, so that the first vertical motion mechanism 111 is vertically moved along guide rail.
Horicontal motion mechanism 112 is connected to the first vertical motion mechanism 111, thus in the horizontal direction (X-direction) be can
Movement.For example, guide rail is attached along the first vertical motion mechanism 111 in the horizontal direction, so that 112 edge of horicontal motion mechanism
Guide rail horizontal ground motion.
First depth direction movement mechanism 113 is connected to horicontal motion mechanism 112, thus in depth direction (Z-direction)
It is movable.For example, guide rail is attached along horicontal motion mechanism 112 in the depth direction, so that the first depth direction moves
Mechanism 113 is moved along guide rail in depth direction.
Grasping unit motion mechanism 114 is connected to the first depth direction movement mechanism 113, to be that can transport in depth direction
Dynamic.For example, guide rail is attached along the bottom of the first depth direction movement mechanism 113 in the depth direction, so that grasping unit
115 move along depth direction movement mechanism 113 in depth direction.In the present embodiment, grasping unit 115 is in the first depth side
To being movable between the both ends of movement mechanism 113, and correspondingly, in pedestal, the motion range for grasping unit 115 is big
In the motion range of the first depth direction movement mechanism 113.
Grasping unit 115 is connected to the first depth direction movement mechanism 113, and keeps the product to be picked (following
Referred to as object).Grasping unit 115 can be set to it is rotatable, to cope with various types of objects.Grasp unit 115
Including suction force source, such as compressor, and the controllable valve opening that can be opened and closed, such as solenoid valve.Unit 115 is grasped to use
At least one suction pad relies on valve opening by stopping suction release object by suction grabbing object.Multiple grasping units
115 can be used for obtaining desired bearing capacity.It is desirable to use the shape pad formed by elastic material with bellows, or
Person adjusts object by spring supporting and grasps the pad of the distance between unit 115 (when they are in contact with each other).Grasp unit
115 can form in a manner of as the grabbing object of two sides, without using suction to pad.If the function of mobile object is able to
It realizes, the structure of grasping unit 115 can be different.
The lower section of the first vertical motion mechanism 111 is arranged in second vertical motion mechanism 116, and is connected to the of pedestal
Three stays 103, the 4th stay 104, the 5th stay 105 and the 6th stay 106, so as in vertical direction
It is movable.Second vertical motion mechanism 116 along pedestal guide rail, with the side similar with the first vertical motion mechanism 111
Formula vertically moves.
Second depth direction movement mechanism 117 is connected to the second vertical motion mechanism 116, to be that can transport in depth direction
Dynamic.For example, guide rail is attached in depth direction along the second vertical motion mechanism 116, so that the second depth direction movement mechanism
117 move along the second vertical motion mechanism 116 in depth direction.
Transmission device 118 is attached to the transmission device of the second depth direction movement mechanism 117, for example, belt transmission dress
It sets or roll-type transmission device.Transmission device 118, which passes through to be carried with the rotary force rotating roller for being applied to motor, to be loaded on it
Object.
The pick process of cargo handling equipment 100 according to first embodiment will be illustrated referring to Fig. 2 to 7.
It is assumed that the chest being loaded in loading box 201 is picked as object 202 and 203, and the quilt of object 202 and 203
It is moved to workbench 205.Fig. 2 to 7 shows the case where object 202 is picked.
Loading box 201 is the shelf with grid/grid search-engine shield, and has wheel in bottom.Loading box 201
It can be moved together with the product loaded.In the present embodiment, loading box 201 can be fixed in pedestal.It is grasped when picking up
It is performed, loading box 201 is fixed by pedestal.Loading box 201 is not limited to be fixed in pedestal, on the contrary, can be fixed
Closing on cargo handling equipment 100.
Workbench 205 is the destination of the object carried from loading box 201, and can be static workbench with temporary
The object is stored, or can be movable workbench to carry the object to another position by belt conveyer.
In this embodiment it is assumed that using movable workbench, and it is carried to from loading box 201 the object quilt of workbench 205
It is fed sequentially into another position.
Furthermore, it is assumed that the position for the object that be loaded into loading box 201 and the sequence for picking up object are scheduled, and
Controller (not shown) control grasping unit 115 grasps the object and controls each movement of cargo handling equipment 100
Mechanism kinematic can be loaded onto the preset distance of the position of transmission device 118 to the object.Control the method packet of movement mechanism
It includes: according to specified pulse, the opened loop control for allowing each movement mechanism by the way that stepper motor is rotated scheduled amount to move
Method, or by minimizing target value and by the error between the value of position sensor measurement, each movement mechanism is allowed to move
Move the closed loop control method to designated position.
Fig. 2 shows the original states before carrying out cargo and carrying process.Loading box 201 is placed on cargo carrying and sets
In standby 100.Cargo handling equipment 100 is arranged to close to workbench 205, and workbench is the object from transmission device 118
Destination, so that the object is transported to workbench 205 from transmission device 118.
Fig. 3 shows the state of 100 grabbing object 202 of cargo handling equipment.First vertical motion mechanism 111 moves down
(negative direction of Y-axis) to allow grasp 115 grabbing object 202 of unit position.It is assumed that the second most initial position of vertical motion mechanism 116
The height on transmission device 118 can be loaded onto object 202.If transmission device 118, which is located at object 202, to be loaded
Position, the second vertical motion mechanism 116 is vertically moved to the position flushed with the bottom of object 202, so that object 202 can
To be loaded on transmission device 118.
First depth direction movement mechanism 113 is moved in depth direction (negative direction of Z axis) allows grasping unit 115 logical
It crosses application and is drawn into the position that object 202 carrys out grabbing object 202.Grasping unit 115 passes through the pumping in front surface and upper surface
Inhale grabbing object 202.Horicontal motion mechanism 112 can be mobile in the horizontal direction (X-direction) according to the position of object 202.Class
It is similar to the first depth direction movement mechanism 113, the second depth direction movement mechanism 117 is moved in depth direction (negative direction of Z axis)
Move the front surface of object 202.Near the bottom for the front surface that the edge of transmission device 118 can be located at object 202.It is acceptable
Be that edge is located at a little higher than bottom, it is desirable to edge is located at the lower section of the bottom of object 202.Therefore, object 202 is by can
It is loaded on transmission device 118 by ground.
Fig. 4 shows the state that object 202 is loaded on transmission device 118.Second depth direction movement mechanism 117 exists
The positive direction of Z axis is mobile, grasps 115 grabbing object 202 of unit at this time.Transmission device 118 is belt conveyer, in Z axis
Direction is mobile, so that being applied to object by the transport force for clipping object 202 between grasping unit 115 and transmission device 118
The upper and lower surfaces of body 202.This enables object 202 to be easily loaded on transmission device 118.Preferably second
The movement velocity of depth direction movement mechanism 117 is equal with the movement velocity of transmission device 118, to prevent object 202 from falling.
When object 202 reaches the predetermined position of transmission device 118, the second depth direction movement mechanism 117 and transmission dress
Set 118 movement stopping.By the above method, loaded objects 202 to transmission device 118 are completed.If object 202 is light weight
, then motor no power, to keep transmission device 118 idle.In this state, object 202 is on transmission device 118,
Predetermined position is moved to by the holding of grasping unit 115 simultaneously.
Fig. 5 shows the state that grasping unit 115 retracts, so as not to interfere the movement of object 202.
Grasp unit 115 by stop suction release object 202, and the first vertical motion mechanism 111 move up with
It is separated with object 202.The amount of exercise of first vertical motion mechanism 111 can be determined, so that the first vertical motion mechanism 111,
Horicontal motion mechanism 112, the first depth direction movement mechanism 113, grasping unit motion mechanism 114 and grasping unit 115 are when biography
Device is sent mutually not collide when carrying object.
Fig. 6 shows the state that transmission device 118 is located at 205 side of workbench.
Second depth direction movement mechanism 117 is mobile to workbench 205, and the second vertical motion mechanism 116 vertically moves
The position closed on to transmission device 118 towards the edge of workbench 205 and workbench 205, and object 202 is transported, without
Vibration can be generated to workbench 205.Specifically, compare work in the edge that the second vertical motion mechanism 116 is moved to transmission device 118
The slightly higher position in the edge of platform 205.When the second depth direction movement mechanism 117 is mobile, transmission device 118 may stop, and make
It is static for obtaining object 202, or can be so that the speed movement that object 202 is not fallen out.
Fig. 7 shows the state that object 202 is carried on workbench 205 from transmission device 118.Transmission device 118 moves
It is dynamic, so that object is carried on workbench 205 by rotation transmitting device.In view of the movement velocity of workbench 205, transmission
The speed of device 118 is controlled, so that object 202 is not fallen out when entering workbench 205.The goods of cargo handling equipment 100
Object handling process is completed by aforesaid operations.
Another example of the pick process of cargo handling equipment 100 according to first embodiment with reference to the accompanying drawings 8 to 11
It is illustrated.
It is assumed that loading box 201 is mounted with a large amount of object.When a large amount of object is loaded, load, which is applied to, to be placed on
The object of lower position.By the load applied, object may be deformed or is damaged.In order to avoid such case, Ke Nengcun
It is provided to the case where loading box is to disperse object in intermediate shelf, and object is loaded on intermediate shelf.Fig. 8 to 11 shows
Intermediate shelf 801 is provided to loading box 201 and the case where object 802 is picked from intermediate shelf out.Fig. 8 shows object and wants
Original state when being picked from intermediate shelf 801.First vertical motion mechanism 111, which moves up (positive direction of Y-axis) and arrives, to be permitted
Perhaps grasping unit 115 grasps the position for the object 802 being placed on intermediate shelf 801.When the first vertical motion mechanism 111 is upward
When mobile, the first depth direction movement mechanism 113 is moved to the outside of loading box 201 with grasping unit 115, so as not to hit
Intermediate shelf.Specifically, the first depth direction movement mechanism 113 and grasping unit 115 are mobile in the positive direction of Z axis.Then,
One vertical motion mechanism 111 moves up.
Similarly, the second depth direction movement mechanism 117 and transmission device 118 are mobile in the positive direction of Z axis, so as not to meeting
Intermediate shelf 801 is hit, then, the second vertical motion mechanism 116 is moved adjacent to the position of the upper surface of intermediate shelf 801.
Specifically, the second vertical motion mechanism 116 is moved to the position that the edge of intermediate shelf 801 is flushed with the edge of transmission device 118
It sets or position that the edge of transmission device 118 is lower than the edge of intermediate shelf 801.
Fig. 9 shows the state that object 802 is picked from intermediate shelf 801.First depth direction movement mechanism 113 is to placement
Object 802 on intermediate shelf 801 is mobile.Then, simultaneously grabbing object 802 is sucked in grasping unit 115.
Figure 10 shows the state that object 802 is loaded on transmission device 118.The positive direction that unit 115 is grasped in Z axis is moved
It is dynamic, while grabbing object 802.The operation for grasping unit 115 and transmission device 118 is similar to the operation referring to illustrated by Fig. 4.
Figure 11 shows the state that transmission device 118 is located at 205 side of workbench.Second vertical motion mechanism 116 is to moving down
It is dynamic, so that the edge of workbench 205 is flushed with the edge of transmission device 118.When object 802 is moved to workbench 205, by
It will not be interfered in grasping unit 115, grasping unit 115 need not retract.Object 802 is transmitted to workbench 205 from transmission device 118
Operation be similar to operation shown in Fig. 7, and description of them will be omitted.Pickup is loaded on intermediate shelf 801
The operation of object 802 passes through above-mentioned completion.
According to first embodiment, object is filled by grasping unit and in the mobile transmission of vertical or depth direction in pedestal
It sets and is picked up from loading box.This realizes the goods for having essentially identical size with the motion range of grasping unit and transmission device
Object haulage equipment, and complete the miniaturization of the device.In addition, grasping unit and transmission device, by can independently erect
Straight or depth direction is mobile, enables the device to be applied to existing carrying belt conveyer and existing with intermediate shelf
Loading box.In addition, grasping unit and transmission device synthetic operation.
Specifically, when picking up object, transmission device is moved adjacent to grasping unit to shorten grasping unit selve support
The time of object, and transmission device is moved to the height of the workbench of the destination as object and is arrived with successfully mobile object
Workbench.Therefore, device according to first embodiment steadily picks up or carries object, even processing weight object or
The object of higher position.
(second embodiment)
In the first embodiment, the position to be loaded to the object in loading box or the like, the quantity of object and is picked up
It is all scheduled for taking the sequence of object, and object can be picked by controlling scheduled driving force and sequence.Second implements
The difference of example and first embodiment is: the position for the object that imaging sensor detection is loaded.The function of the position of detection object
It has been able to achieve application of the cargo handling equipment for any arrangement of object, and has increased multifunctionality.
Referring to Fig.1 2 block diagram is illustrated by cargo handling equipment according to the second embodiment.
Cargo handling equipment 1200 according to the second embodiment includes: the first vertical motion mechanism 111, horicontal motion mechanism
112, the first depth direction movement mechanism 113 grasps unit motion mechanism 114, grasps unit 115, the second vertical motion mechanism
116, the second depth direction movement mechanism 117, transmission device 118, imaging sensor 1201, shape detector 1202 and controller
1203。
Imaging sensor 1201 is stereo camera sensor or the range image sensing that can obtain three dimensional local information
Device, such as laser range finder, and imaging sensor 1201 obtains the image of object or image and generates image data.
Shape detector 1202 receives the image data from imaging sensor 1201, and according to image data detection object
Upper position and lower position.It includes the upper position of object and the position letter of lower position that shape detector 1202, which generates,
Breath, in distance of the depth direction from predetermined point to upper position and the distance from predetermined point to lower position.
Controller 1203 receives the location information from shape detector 1202, and according to the location information, driving first is perpendicular
Straight movement mechanism 111, horicontal motion mechanism 112 and the first depth direction movement mechanism 113, so that grasping unit 115 is toward upper
Position is mobile, and drives the second vertical motion mechanism 116 and the second depth direction movement mechanism 117, so that transmission device 118
It is mobile towards lower position.
In order to control driving operation, the generation of controller 1203 indicates the first vertical motion mechanism 111, horicontal motion mechanism
112, the first depth direction movement mechanism 113 grasps unit motion mechanism 114, the second vertical motion mechanism 116 and the second depth
The driving signal of the drive volume of each of direction movement mechanism 117.In addition, controller 1203 generate grasping control signal with
The grasping movement of control grasping unit 115, and transmission control signal to control the conveying operations of transmission device 118.
First vertical motion mechanism 111, horicontal motion mechanism 112, the first depth direction movement mechanism 113 grasp unit
Movement mechanism 114, the second vertical motion mechanism 116 and the second depth direction movement mechanism 117 respectively receive and come from controller
1203 driving signal is to be driven the drive volume indicated by driving signal.
Grasping unit 115 receives the grasping control signal from controller 1203 to start or stop according to grasping control signal
Only grasping operation.
Transmission device 118 receives the transmission control signal from controller 1203 to start or stop according to transmission control signal
The only rotation of transmission device, or the speed of adjustment rotation.
The shape of cargo handling equipment 1200 according to the second embodiment is carried similar to cargo according to first embodiment
Equipment 100, and descriptions thereof will be omitted.The image that imaging sensor 1201 can be fixed on the object in loading box can
With the position being acquired.Shape detector 1202 and controller 1203 can be arranged to the control panel on pedestal, Huo Zhecong
1200 remote arrangement of cargo handling equipment.When remote arrangement, image data passes through wired or wireless from cargo handling equipment
1200 are received, and grasp control signal and transmit control signal and be sent back to cargo handling equipment 1200.
By the referring to Fig.1 3 explanation examples that location information generates in shape detector 1202.
Figure 13 shows the image data obtained from imaging sensor.The image is from the internal loading loaded there are two chest
What the opening side of case 201 obtained.The relationship of each reference axis is identical with relationship shown in Fig. 2.In Figure 13, loading box
201 bottom is arranged to reference line.
Shape detector 1202 executes the image recognition of image data, and extracts three dimensional local information or RGB image letter
Cease the shape to identify object.In the example shown in Figure 13, two rectangles 1301 and 1302 are identified, and in vertical side
Rectangle in (Y direction) with maximum value and in depth direction (Z-direction) with minimum value is set to object.
That is, being placed on closest to grasping unit and being picked at first in the chest at top.In this example,
Rectangle 1301 is set to object.Shape detector 1202 obtains the upper position 1303 of object, and calculates upper position 1303
Coordinate and from predetermined point to upper position 1303 distance.Shape detector 1202 also obtains the lower position 1304 of object,
And calculate the coordinate of lower position 1304 and from predetermined point to lower position 1304 distance.
Shape detector 1202 correspondingly obtains the coordinate about upper position 1303, the distance of upper position 1303, under
The data of the distance of the coordinate and lower position 1304 of portion position 1304 are as location information.The coordinate of upper position 1303 includes
Coordinate (at least Y-axis component) in vertical direction (Y direction), in the extreme higher position of object.The coordinate of lower position 1304
It is included in vertical direction (Y direction), in the coordinate (at least Y-axis component) of the lowest position of object.For rectangle object,
The coordinate of the upper surface of rectangle 1301 can be the coordinate of upper position 1303, and the coordinate of the lower surface of rectangle 1301 can be with
It is the coordinate of lower position 1304.
The pick process of cargo handling equipment 1200 according to the second embodiment carries out the process of 4A referring to Fig.1 to 14B
Explanation.
In step S1401, imaging sensor 1201 obtains the image of the inside of loading box and obtains image data.
In step S1402, shape detector 1202 executes the image recognition of image data to detect shape, and determines object
Body.
In step S1403, shape detector 1202 calculates the upper position and lower position of the identified object of shape.
Second embodiment assumes the case where chest is the object being picked.For being placed on extreme higher position in the vertical direction and in depth
The object of position up front is placed on direction, calculates upper position and lower position.
In step S1404, controller 1203 determines whether object is placed on position more higher than intermediate shelf.It is this
Determination can be by carrying out the predetermined position of upper position calculated in step S1403 and lower position and intermediate shelf
Compare and makes.If possible the determination can also be made and analyzing the position of intermediate shelf from image data.
In this case, shape detector 1202 or controller 1203 can according to image data judgment object whether
Shelf is high among the ratio being placed.If shelf is high among the ratio that object is placed, step S1413, and if object are executed
Shelf is low among the ratio being placed, and executes step S1405.
In step S1405, in response to received from controller 1203, show the drive volume for being moved to upper position
Driving signal, the first vertical motion mechanism 111, horicontal motion mechanism 112, the first depth direction movement mechanism 113 and grasping
The mobile grasping unit 115 of unit motion mechanism 114 arrives the upper position of object.
In step S1406, in response to received from controller 1203, show the drive volume for being moved to lower position
Driving signal, the second vertical motion mechanism 116 and 117 mobile carrier device 118 of the second depth direction movement mechanism arrive object
Lower position.
In step S1407, in response to received from controller 1203, the grasping control signal of the starting of suction is indicated,
Grasp 115 grabbing object of unit.
In step S1408, in response to driving signal, grasping control signal and transmission control signal, horicontal motion mechanism
112, the first depth direction movement mechanism 113 grasps unit motion mechanism 114, grasps unit 115 and transmission device 118 cooperates with
Work, so that object is moved to the predetermined position of transmission device 118, and is loaded on transmission device 118.
In step S1409, after the predetermined position that object is loaded onto transmission device 118, in response to from controller
1203 is received, indicates that the grasping control signal of the stopping of suction, grasping unit 115 discharge object.
In step S1410, in response to the driving signal from controller 1203, the first vertical motion mechanism 111 is retracted,
So as not to the movement of interfering object.
In step S1411, in response to from the received driving signal of controller 1203,116 He of the second vertical motion mechanism
Second depth direction movement mechanism, 117 mobile carrier device 118 can be sent to the position of workbench to object.
In step S1412, in response to controlling signal from the received transmission of controller 1203, transmission device 118 transmits object
Body is to workbench.Object is brought to workbench by rotation transmission device.This maintains the stability of object.
In step S1413, in response to the driving signal from controller 1203, the first depth direction movement mechanism 113
It retracts.
In step S1414, in response to the driving signal from controller 1203, the second depth direction movement mechanism 117
It retracts.
In step S1415, in response to the driving signal from controller 1203, the first vertical motion mechanism 111 is mobile
To the uppermost position in fig-ure of pedestal.
In step S1416, in response to the driving signal from controller 1203, the second vertical motion mechanism 116 is mobile
Transmission device 118 to the object being placed on intermediate shelf lower position, or if only one object is placed in
Between on shelf, then being moved to the edge of intermediate shelf.
In step S1417, in response to received from controller 1203, show the drive volume for being moved to upper position
Driving signal, the first vertical motion mechanism 111, horicontal motion mechanism 112, the first depth direction movement mechanism 113 and grasping
The mobile grasping unit 115 of unit motion mechanism 114 arrives the upper position of object.
In step S1418, in response to received from controller 1203, the grasping of instruction starting suction controls signal, grabs
Hold 115 grabbing object of unit.
In step S1419, in response to driving signal, grasping control signal and transmission control signal, horicontal motion mechanism
112, the first depth direction movement mechanism 113 grasps unit motion mechanism 114, grasps unit 115 and transmission device 118 cooperates with
Work, so that object is moved to the predetermined position of transmission device 118, and is loaded on transmission device 118.
In step S1420, after the pre-position that object is loaded onto transmission device 118, in response to from control
Device 1203 is received, and the grasping that instruction suction stops controls signal, and grasping unit 115 discharges object.
In step S1421, in response to from the received driving signal of controller 1203,116 He of the second vertical motion mechanism
Second depth direction movement mechanism, 117 mobile carrier device 118 can be sent to the position of workbench to object.
In step S1422, in response to controlling signal from the received transmission of controller 1203, transmission device 118 transmits object
Body is to workbench.The cargo handling process of cargo handling equipment 1200 is completed by aforesaid operations.
According to the present embodiment, if loading box becomes sky during cargo handling process, another is mounted with object
Loading box replaces the chest of the sky, and identical process can repeat.Empty loading box can manually or by use by
Empty van releases pedestal and takes next loading box to device in pedestal, is replaced by next loading box.
For example, the case where for not using imaging sensor, after the completion of the cargo of predetermined quantity carries operation, loading box
It is assumed sky, and loading box is pushed out and next loading box band is come in by chest driving unit (not shown).
The case where for using imaging sensor, controller according to image data determine object whether still in loading box, and such as
Fruit controller determines that loading box is just pushed out and next loading box band is come in by no object, chest driving unit.
According to second embodiment, according to the image data obtained by imaging sensor, object is detected, and cargo is carried
Process is not limited to scheduled object or scheduled arrangement, but also can be applied to the arrangement of any object, to improve goods
The versatility of object haulage equipment.
Above-described embodiment assumes that pedestal is kept upright in vertical direction (Y direction), and the first vertical motion mechanism 111
Situation about being moved in the vertical direction with the second vertical motion mechanism 116.However, second embodiment can be applied to due to pedestal
Shape, pedestal tilt the case where.
In this case, the first vertical motion mechanism 111 (the first movement mechanism) and the second vertical motion mechanism 116
(third movement mechanism) can be mobile along inclined direction (first direction).Horicontal motion mechanism 112 and the first depth direction
Movement mechanism 113 (the second movement mechanism) can be moved up in the XZ plane (the first approximate horizontal plane) intersected with first direction
It is dynamic.The the second depth direction movement mechanism 117 (the 4th movement mechanism) for being connected to third movement mechanism can be big in face of first
It causes to move in the XZ plane (plane of second substantially level) of horizontal plane.First and second approximate horizontal planes are simultaneously unlimited
In what is be strictly parallel to each other, it is also possible to inclined to first direction or vertical direction.
In the above-described embodiments, it grasps unit 115 and transmission device 118 is moved according to the movement of each movement mechanism,
But grasping unit 115 and transmission device 118 can be movable independently of movement mechanism.For example, cargo handling equipment can
To include grasping unit 115, it is attached in the range identical as the first and second movement mechanisms and in the direction of three axis
The end of upper movable arm, and be movable transmission device in the range identical as the third and fourth movement mechanism
118.Such cargo handling equipment realizes the miniaturization of device, at the same obtain in terms of carrying object with according to first and
The identical stability of the device of second embodiment.
Although having been described that some embodiments, these embodiments are suggested only by exemplary mode, and not purport
It is limiting the scope of the invention.In fact, novel method and system described herein can be with various other shapes
Formula is implemented；In addition, the formal various omissions of methods and systems described herein, substitution and change can not depart from this
It is made in the case where the spirit of invention.The following claims and their equivalents, which are intended to cover these, falls into the scope of the present invention and essence
Form or modification in mind.
Claims (6)
1. a kind of cargo handling equipment, comprising:
First movement mechanism, it is movable in a first direction；
Second movement mechanism is connected to first movement mechanism and on the first level face intersected with the first direction
It is movable；
Unit is grasped, it is described to pick up to be connected to second movement mechanism and the upper position by aspirating grabbing object
Object；
Third movement mechanism is arranged below first movement mechanism, second movement mechanism and the grasping unit, and
And it is movable in said first direction；
4th movement mechanism is connected to the third movement mechanism and in second horizontal plane opposite with the first level face
It is upper movable；
Transmission device is connected to the 4th movement mechanism, and loads and transmit by the object of the grasping unit grasping
Body, and
Case control unit, loading box of the control for loaded objects can be replaced,
The equipment further include:
Imaging sensor obtains the image data of the object；
Detector, identify the shape of object and upper position from described image data based on object described in the SHAPE DETECTION and
Lower position；With
Controller drives first movement mechanism and second movement mechanism to allow the grasping unit towards the top
Position movement, and the third movement mechanism and the 4th movement mechanism are driven to allow the transmission device towards under described
The movement of portion position,
Wherein, the equipment has the region including the loading box, and the transmission device is moved to the front of the loading box,
The object is sandwiched between the grasping unit and the transmission device until the object is charged at least with transmission device
On,
Wherein, the motion range and the cargo handling equipment of the grasping unit and the transmission device have essentially identical
Size.
2. equipment as described in claim 1, which is characterized in that
Described image sensor acquisition includes the location information about the information of the distance to the object, and
The controller calculate according to the positional information between second movement mechanism and the upper position first away from
From the second distance between the 4th movement mechanism and the lower position, according to first distance driving described first
Movement mechanism and second movement mechanism, and the third movement mechanism and the described 4th are driven according to the second distance
Movement mechanism.
3. equipment as described in claim 1, which is characterized in that when the transmission device transmits the object, described first
Movement mechanism, second movement mechanism and the grasping unit are transported in a manner of not striking against the transmission device and the object
It is dynamic.
4. equipment as described in claim 1, which is characterized in that when the object is loaded on intermediate shelf, described
Three movement mechanisms and the 4th movement mechanism movement, so that one end of the transmission device is located at the lower part of the object
At position or one end of the transmission device is positioned at the lower end of the close transmission device of the intermediate shelf.
5. a kind of cargo handling equipment, comprising:
Pedestal, the pedestal are supporters；
Grasp unit, be connected in the pedestal and in a first direction, it is movable on second direction and third direction, and grab
Object is held, the second direction is perpendicular to the first direction, and the third direction is perpendicular to the first direction and described
Two directions；With
Transmission device is connected at position more lower than the grasping unit in the pedestal and along described first and second
Direction is movable, and transmits by the object of the grasping unit grasping,
Wherein, the transmission device moves to the lower part close to the object and by loading institute with the grasping unit matching
State on object to the transmission device, and the pedestal have include loading box for loaded objects region.
6. a kind of cargo method for carrying, comprising:
Obtain the image data for the object to be picked；
From the shape of object described in described image Data Detection, and the upper position and lower position of the detection object；
Driving grasping unit is moved to the upper position, and the grasping unit grasps the object；
Drive transmission unit is moved to the lower position, and the transmission device loads and transmits the object；
By the object that the grasping unit is detected in upper position grasping；
By the collaborative work between the grasping unit and the transmission device, the object is loaded to the transmission device
On；
By when the transmission device transmits the object without impinging on the object in a manner of the mobile grasping unit；With
The workbench of the mobile close destination as the object of the transmission device, and the object is transmitted to the work
Make platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910183929.5A CN109969781B (en) | 2014-05-29 | 2015-05-29 | Taking-out device, transfer device, taking-out method, and control device |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014-111729 | 2014-05-29 | ||
| JP2014111729A JP6305213B2 (en) | 2014-05-29 | 2014-05-29 | Extraction device and method |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910183929.5A Division CN109969781B (en) | 2014-05-29 | 2015-05-29 | Taking-out device, transfer device, taking-out method, and control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105314310A CN105314310A (en) | 2016-02-10 |
| CN105314310B true CN105314310B (en) | 2019-10-01 |
Family
ID=54700931
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910183929.5A Active CN109969781B (en) | 2014-05-29 | 2015-05-29 | Taking-out device, transfer device, taking-out method, and control device |
| CN201510289202.7A Active CN105314310B (en) | 2014-05-29 | 2015-05-29 | Cargo handling equipment and method |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201910183929.5A Active CN109969781B (en) | 2014-05-29 | 2015-05-29 | Taking-out device, transfer device, taking-out method, and control device |
Country Status (3)
| Country | Link |
|---|---|
| US (5) | US9758300B2 (en) |
| JP (1) | JP6305213B2 (en) |
| CN (2) | CN109969781B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109969781A (en) | 2019-07-05 |
| US20210245954A1 (en) | 2021-08-12 |
| CN105314310A (en) | 2016-02-10 |
| US9896267B2 (en) | 2018-02-20 |
| US20180134489A1 (en) | 2018-05-17 |
| US20170355523A1 (en) | 2017-12-14 |
| JP2015224125A (en) | 2015-12-14 |
| US9758300B2 (en) | 2017-09-12 |
| JP6305213B2 (en) | 2018-04-04 |
| US20200130932A1 (en) | 2020-04-30 |
| US11001441B2 (en) | 2021-05-11 |
| US20150344225A1 (en) | 2015-12-03 |
| CN109969781B (en) | 2021-11-02 |
| US10549913B2 (en) | 2020-02-04 |
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